1 // Copyright (C) 2021 Harry Godden (hgn) - All Rights Reserved
4 // ==================================================================================================================
6 #define VG_PIf 3.14159265358979323846264338327950288f
7 #define VG_TAUf 6.28318530717958647692528676655900576f
9 // Simple min/max replacements
10 static inline float vg_minf( float a
, float b
)
15 static inline float vg_maxf( float a
, float b
)
20 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
21 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
23 // Hopefully deprecate this!!
24 static inline int vg_min( int a
, int b
)
29 static inline int vg_max( int a
, int b
)
34 // Convert degrees to radians
35 static inline float vg_rad( float deg
)
37 return deg
* VG_PIf
/ 180.0f
;
41 // ==================================================================================================================
43 static inline void v2_copy( v2f a
, v2f b
)
45 b
[0] = a
[0]; b
[1] = a
[1];
48 static inline void v2_minv( v2f a
, v2f b
, v2f dest
)
50 dest
[0] = vg_minf(a
[0], b
[0]);
51 dest
[1] = vg_minf(a
[1], b
[1]);
54 static inline void v2_maxv( v2f a
, v2f b
, v2f dest
)
56 dest
[0] = vg_maxf(a
[0], b
[0]);
57 dest
[1] = vg_maxf(a
[1], b
[1]);
60 static inline void v2_sub( v2f a
, v2f b
, v2f d
)
62 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1];
65 static inline float v2_cross( v2f a
, v2f b
)
67 return a
[0] * b
[1] - a
[1] * b
[0];
70 static inline void v2_add( v2f a
, v2f b
, v2f d
)
72 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1];
75 static inline void v2_muls( v2f a
, float s
, v2f d
)
77 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
;
80 static inline void v2_divs( v2f a
, float s
, v2f d
)
82 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
;
86 static inline void v2_mul( v2f a
, v2f b
, v2f d
)
88 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1];
91 static inline void v2_div( v2f a
, v2f b
, v2f d
)
93 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1];
96 static inline void v2_muladds( v2f a
, v2f b
, float s
, v2f d
)
98 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
;
102 // ==================================================================================================================
104 static inline void v3_zero( v3f a
)
106 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
;
109 static inline void v3_copy( v3f a
, v3f b
)
111 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2];
114 static inline void v3_add( v3f a
, v3f b
, v3f d
)
116 d
[0] = a
[0]+b
[0]; d
[1] = a
[1]+b
[1]; d
[2] = a
[2]+b
[2];
119 static inline void v3_sub( v3f a
, v3f b
, v3f d
)
121 d
[0] = a
[0]-b
[0]; d
[1] = a
[1]-b
[1]; d
[2] = a
[2]-b
[2];
124 static inline void v3_mul( v3f a
, v3f b
, v3f d
)
126 d
[0] = a
[0]*b
[0]; d
[1] = a
[1]*b
[1]; d
[2] = a
[2]*b
[2];
129 static inline void v3_div( v3f a
, v3f b
, v3f d
)
131 d
[0] = a
[0]/b
[0]; d
[1] = a
[1]/b
[1]; d
[2] = a
[2]/b
[2];
134 static inline void v3_muls( v3f a
, float s
, v3f d
)
136 d
[0] = a
[0]*s
; d
[1] = a
[1]*s
; d
[2] = a
[2]*s
;
139 static inline void v3_divs( v3f a
, float s
, v3f d
)
141 d
[0] = a
[0]/s
; d
[1] = a
[1]/s
; d
[2] = a
[2]/s
;
144 static inline void v3_muladds( v3f a
, v3f b
, float s
, v3f d
)
146 d
[0] = a
[0]+b
[0]*s
; d
[1] = a
[1]+b
[1]*s
; d
[2] = a
[2]+b
[2]*s
;
149 static inline float v3_dot( v3f a
, v3f b
)
151 return a
[0] * b
[0] + a
[1] * b
[1] + a
[2] * b
[2];
154 static inline void v3_cross( v3f a
, v3f b
, v3f d
)
156 d
[0] = a
[1] * b
[2] - a
[2] * b
[1];
157 d
[1] = a
[2] * b
[0] - a
[0] * b
[2];
158 d
[2] = a
[0] * b
[1] - a
[1] * b
[0];
161 static inline float v3_length2( v3f a
)
163 return v3_dot( a
, a
);
166 static inline float v3_length( v3f a
)
168 return sqrtf( v3_length2( a
) );
171 static inline float v3_dist2( v3f a
, v3f b
)
174 v3_sub( a
, b
, delta
);
175 return v3_length2( delta
);
178 static inline float v3_dist( v3f a
, v3f b
)
180 return sqrtf( v3_dist2( a
, b
) );
183 static inline void v3_normalize( v3f a
)
185 v3_muls( a
, 1.f
/ v3_length( a
), a
);
188 static inline float csr_lerpf( float a
, float b
, float t
)
193 static inline void v3_lerp( v3f a
, v3f b
, float t
, v3f d
)
195 d
[0] = a
[0] + t
*(b
[0]-a
[0]);
196 d
[1] = a
[1] + t
*(b
[1]-a
[1]);
197 d
[2] = a
[2] + t
*(b
[2]-a
[2]);
200 static inline void v3_minv( v3f a
, v3f b
, v3f dest
)
202 dest
[0] = vg_minf(a
[0], b
[0]);
203 dest
[1] = vg_minf(a
[1], b
[1]);
204 dest
[2] = vg_minf(a
[2], b
[2]);
207 static inline void v3_maxv( v3f a
, v3f b
, v3f dest
)
209 dest
[0] = vg_maxf(a
[0], b
[0]);
210 dest
[1] = vg_maxf(a
[1], b
[1]);
211 dest
[2] = vg_maxf(a
[2], b
[2]);
214 static inline float v3_minf( v3f a
)
216 return vg_minf( vg_minf( a
[0], a
[1] ), a
[2] );
219 static inline float v3_maxf( v3f a
)
221 return vg_maxf( vg_maxf( a
[0], a
[1] ), a
[2] );
224 static inline void v3_fill( v3f a
, float v
)
232 // ==================================================================================================================
234 static inline void v4_copy( v4f a
, v4f b
)
236 b
[0] = a
[0]; b
[1] = a
[1]; b
[2] = a
[2]; b
[3] = a
[3];
239 static inline void v4_zero( v4f a
)
241 a
[0] = 0.f
; a
[1] = 0.f
; a
[2] = 0.f
; a
[3] = 0.f
;
245 // ===========================================================================================================
247 #define M2X2_INDENTIY {{1.0f, 0.0f, }, \
250 #define M2X2_ZERO {{0.0f, 0.0f, }, \
253 static inline void m2x2_copy( m2x2f a
, m2x2f b
)
255 v2_copy( a
[0], b
[0] );
256 v2_copy( a
[1], b
[1] );
259 static inline void m2x2_identity( m2x2f a
)
261 m2x2f id
= M2X2_INDENTIY
;
265 static inline void m2x2_create_rotation( m2x2f a
, float theta
)
279 //======================================================================================================
281 #define M3X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
282 { 0.0f, 1.0f, 0.0f, },\
283 { 0.0f, 0.0f, 1.0f, }}
285 #define M3X3_ZERO {{0.0f, 0.0f, 0.0f, },\
286 { 0.0f, 0.0f, 0.0f, },\
287 { 0.0f, 0.0f, 0.0f, }}
290 static inline void m3x3_copy( m3x3f a
, m3x3f b
)
292 v3_copy( a
[0], b
[0] );
293 v3_copy( a
[1], b
[1] );
294 v3_copy( a
[2], b
[2] );
297 static inline void m3x3_identity( m3x3f a
)
299 m3x3f id
= M3X3_IDENTITY
;
303 static inline void m3x3_zero( m3x3f a
)
309 static inline void m3x3_inv( m3x3f src
, m3x3f dest
)
311 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
312 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
313 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
320 dest
[0][0] = (e
*i
-h
*f
)*det
;
321 dest
[0][1] = -(b
*i
-c
*h
)*det
;
322 dest
[0][2] = (b
*f
-c
*e
)*det
;
323 dest
[1][0] = -(d
*i
-f
*g
)*det
;
324 dest
[1][1] = (a
*i
-c
*g
)*det
;
325 dest
[1][2] = -(a
*f
-d
*c
)*det
;
326 dest
[2][0] = (d
*h
-g
*e
)*det
;
327 dest
[2][1] = -(a
*h
-g
*b
)*det
;
328 dest
[2][2] = (a
*e
-d
*b
)*det
;
331 static inline void m3x3_transpose( m3x3f src
, m3x3f dest
)
333 float a
= src
[0][0], b
= src
[0][1], c
= src
[0][2],
334 d
= src
[1][0], e
= src
[1][1], f
= src
[1][2],
335 g
= src
[2][0], h
= src
[2][1], i
= src
[2][2];
348 static inline void m3x3_mul( m3x3f a
, m3x3f b
, m3x3f d
)
350 float a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
351 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
352 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
354 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
355 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
356 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2];
358 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
359 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
360 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
361 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
362 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
363 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
364 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
365 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
366 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
369 static inline void m3x3_mulv( m3x3f m
, v3f v
, v3f d
)
373 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2];
374 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2];
375 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2];
380 static inline void m3x3_projection( m3x3f dst
, float const left
, float const right
, float const bottom
, float const top
)
386 rl
= 1.0f
/ (right
- left
);
387 tb
= 1.0f
/ (top
- bottom
);
389 dst
[0][0] = 2.0f
* rl
;
390 dst
[1][1] = 2.0f
* tb
;
394 static inline void m3x3_translate( m3x3f m
, v3f v
)
396 m
[2][0] = m
[0][0] * v
[0] + m
[1][0] * v
[1] + m
[2][0];
397 m
[2][1] = m
[0][1] * v
[0] + m
[1][1] * v
[1] + m
[2][1];
398 m
[2][2] = m
[0][2] * v
[0] + m
[1][2] * v
[1] + m
[2][2];
401 static inline void m3x3_scale( m3x3f m
, v3f v
)
403 m
[0][0] = m
[0][0] * v
[0];
404 m
[0][1] = m
[0][1] * v
[0];
405 m
[0][2] = m
[0][2] * v
[0];
407 m
[1][0] = m
[1][0] * v
[1];
408 m
[1][1] = m
[1][1] * v
[1];
409 m
[1][2] = m
[1][2] * v
[1];
412 static inline void m3x3_rotate( m3x3f m
, float angle
)
414 float m00
= m
[0][0], m10
= m
[1][0],
415 m01
= m
[0][1], m11
= m
[1][1],
416 m02
= m
[0][2], m12
= m
[1][2];
422 m
[0][0] = m00
* c
+ m10
* s
;
423 m
[0][1] = m01
* c
+ m11
* s
;
424 m
[0][2] = m02
* c
+ m12
* s
;
426 m
[1][0] = m00
* -s
+ m10
* c
;
427 m
[1][1] = m01
* -s
+ m11
* c
;
428 m
[1][2] = m02
* -s
+ m12
* c
;
432 // ==================================================================================================================
434 #define M4X3_IDENTITY {{1.0f, 0.0f, 0.0f, },\
435 { 0.0f, 1.0f, 0.0f, },\
436 { 0.0f, 0.0f, 1.0f, },\
437 { 0.0f, 0.0f, 0.0f }}
439 static inline void m4x3_to_3x3( m4x3f a
, m3x3f b
)
441 v3_copy( a
[0], b
[0] );
442 v3_copy( a
[1], b
[1] );
443 v3_copy( a
[2], b
[2] );
446 static inline void m4x3_copy( m4x3f a
, m4x3f b
)
448 v3_copy( a
[0], b
[0] );
449 v3_copy( a
[1], b
[1] );
450 v3_copy( a
[2], b
[2] );
451 v3_copy( a
[3], b
[3] );
454 static inline void m4x3_identity( m4x3f a
)
456 m4x3f id
= M4X3_IDENTITY
;
460 static inline void m4x3_mul( m4x3f a
, m4x3f b
, m4x3f d
)
463 a00
= a
[0][0], a01
= a
[0][1], a02
= a
[0][2],
464 a10
= a
[1][0], a11
= a
[1][1], a12
= a
[1][2],
465 a20
= a
[2][0], a21
= a
[2][1], a22
= a
[2][2],
466 a30
= a
[3][0], a31
= a
[3][1], a32
= a
[3][2],
467 b00
= b
[0][0], b01
= b
[0][1], b02
= b
[0][2],
468 b10
= b
[1][0], b11
= b
[1][1], b12
= b
[1][2],
469 b20
= b
[2][0], b21
= b
[2][1], b22
= b
[2][2],
470 b30
= b
[3][0], b31
= b
[3][1], b32
= b
[3][2];
472 d
[0][0] = a00
*b00
+ a10
*b01
+ a20
*b02
;
473 d
[0][1] = a01
*b00
+ a11
*b01
+ a21
*b02
;
474 d
[0][2] = a02
*b00
+ a12
*b01
+ a22
*b02
;
475 d
[1][0] = a00
*b10
+ a10
*b11
+ a20
*b12
;
476 d
[1][1] = a01
*b10
+ a11
*b11
+ a21
*b12
;
477 d
[1][2] = a02
*b10
+ a12
*b11
+ a22
*b12
;
478 d
[2][0] = a00
*b20
+ a10
*b21
+ a20
*b22
;
479 d
[2][1] = a01
*b20
+ a11
*b21
+ a21
*b22
;
480 d
[2][2] = a02
*b20
+ a12
*b21
+ a22
*b22
;
481 d
[3][0] = a00
*b30
+ a10
*b31
+ a20
*b32
+ a30
;
482 d
[3][1] = a01
*b30
+ a11
*b31
+ a21
*b32
+ a31
;
483 d
[3][2] = a02
*b30
+ a12
*b31
+ a22
*b32
+ a32
;
486 static inline void m4x3_mulv( m4x3f m
, v3f v
, v3f d
)
490 res
[0] = m
[0][0]*v
[0] + m
[1][0]*v
[1] + m
[2][0]*v
[2] + m
[3][0];
491 res
[1] = m
[0][1]*v
[0] + m
[1][1]*v
[1] + m
[2][1]*v
[2] + m
[3][1];
492 res
[2] = m
[0][2]*v
[0] + m
[1][2]*v
[1] + m
[2][2]*v
[2] + m
[3][2];
498 // ====================================================================================================================
500 static inline void m4x3_translate( m4x3f m
, v3f v
)
502 v3_muladds( m
[3], m
[0], v
[0], m
[3] );
503 v3_muladds( m
[3], m
[1], v
[1], m
[3] );
504 v3_muladds( m
[3], m
[2], v
[2], m
[3] );
507 static inline void m4x3_scale( m4x3f m
, float s
)
509 v3_muls( m
[0], s
, m
[0] );
510 v3_muls( m
[1], s
, m
[1] );
511 v3_muls( m
[2], s
, m
[2] );
514 static inline void m4x3_rotate_x( m4x3f m
, float angle
)
516 m4x3f t
= M4X3_IDENTITY
;
530 static inline void m4x3_rotate_y( m4x3f m
, float angle
)
532 m4x3f t
= M4X3_IDENTITY
;
546 static inline void m4x3_rotate_z( m4x3f m
, float angle
)
548 m4x3f t
= M4X3_IDENTITY
;
562 // Warning: These functions are unoptimized..
563 static inline void m4x3_expand_aabb_point( m4x3f m
, boxf box
, v3f point
)
566 m4x3_mulv( m
, point
, v
);
568 v3_minv( box
[0], v
, box
[0] );
569 v3_maxv( box
[1], v
, box
[1] );
572 static inline void box_concat( boxf a
, boxf b
)
574 v3_minv( a
[0], b
[0], a
[0] );
575 v3_maxv( a
[1], b
[1], a
[1] );
578 static inline void box_copy( boxf a
, boxf b
)
580 v3_copy( a
[0], b
[0] );
581 v3_copy( a
[1], b
[1] );
584 static inline void m4x3_transform_aabb( m4x3f m
, boxf box
)
588 v3_copy( box
[0], a
);
589 v3_copy( box
[1], b
);
590 v3_fill( box
[0], INFINITY
);
591 v3_fill( box
[1], -INFINITY
);
593 m4x3_expand_aabb_point( m
, box
, a
);
594 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], a
[2] } );
595 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], a
[2] } );
596 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], a
[2] } );
597 m4x3_expand_aabb_point( m
, box
, b
);
598 m4x3_expand_aabb_point( m
, box
, (v3f
){ a
[0], b
[1], b
[2] } );
599 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], a
[1], b
[2] } );
600 m4x3_expand_aabb_point( m
, box
, (v3f
){ b
[0], b
[1], b
[2] } );
603 // Planes (double precision)
604 // ==================================================================================================================
606 static inline void tri_to_plane( double a
[3], double b
[3], double c
[3], double p
[4] )
612 edge0
[0] = b
[0] - a
[0];
613 edge0
[1] = b
[1] - a
[1];
614 edge0
[2] = b
[2] - a
[2];
616 edge1
[0] = c
[0] - a
[0];
617 edge1
[1] = c
[1] - a
[1];
618 edge1
[2] = c
[2] - a
[2];
620 p
[0] = edge0
[1] * edge1
[2] - edge0
[2] * edge1
[1];
621 p
[1] = edge0
[2] * edge1
[0] - edge0
[0] * edge1
[2];
622 p
[2] = edge0
[0] * edge1
[1] - edge0
[1] * edge1
[0];
624 l
= sqrt(p
[0] * p
[0] + p
[1] * p
[1] + p
[2] * p
[2]);
625 p
[3] = (p
[0] * a
[0] + p
[1] * a
[1] + p
[2] * a
[2]) / l
;
632 static inline int plane_intersect( double a
[4], double b
[4], double c
[4], double p
[4] )
634 double const epsilon
= 1e-8f
;
639 x
[0] = a
[1] * b
[2] - a
[2] * b
[1];
640 x
[1] = a
[2] * b
[0] - a
[0] * b
[2];
641 x
[2] = a
[0] * b
[1] - a
[1] * b
[0];
643 d
= x
[0] * c
[0] + x
[1] * c
[1] + x
[2] * c
[2];
645 if( d
< epsilon
&& d
> -epsilon
) return 0;
647 p
[0] = (b
[1] * c
[2] - b
[2] * c
[1]) * -a
[3];
648 p
[1] = (b
[2] * c
[0] - b
[0] * c
[2]) * -a
[3];
649 p
[2] = (b
[0] * c
[1] - b
[1] * c
[0]) * -a
[3];
651 p
[0] += (c
[1] * a
[2] - c
[2] * a
[1]) * -b
[3];
652 p
[1] += (c
[2] * a
[0] - c
[0] * a
[2]) * -b
[3];
653 p
[2] += (c
[0] * a
[1] - c
[1] * a
[0]) * -b
[3];
655 p
[0] += (a
[1] * b
[2] - a
[2] * b
[1]) * -c
[3];
656 p
[1] += (a
[2] * b
[0] - a
[0] * b
[2]) * -c
[3];
657 p
[2] += (a
[0] * b
[1] - a
[1] * b
[0]) * -c
[3];
666 static inline double plane_polarity( double p
[4], double a
[3] )
669 (a
[0] * p
[0] + a
[1] * p
[1] + a
[2] * p
[2])
670 -(p
[0]*p
[3] * p
[0] + p
[1]*p
[3] * p
[1] + p
[2]*p
[3] * p
[2])